Abstract
The researches are part of the actual work carried out by BSTU Voenmeh with the financial support of the Ministry of Education and Science of the Russian Federation for the design and creation of a precision mechanism with parallel kinematics of the «hexapod» type. In modern developments of robot control systems, the approach based on the solution of the inverse dynamic model is most popular. In this article, we study the quality of control and the feasibility of this approach in the control system based on the domestic radiation-resistant microcontroller. A mathematical description of the hexapod dynamics model and control algorithm is given. A model of a digital control system for the hexapod of space intended for use in Matlab Simulink is described. Estimates of the quality of hexapode regulation in the contour control regime are obtained. Evaluated the software implementation of the control algorithm in the real-time operating system Keil RTX in the programming language C++. The quantization period necessary for the implementation of the algorithm under investigation is determined.
Highlights
Данные исследования являются частью актуальных работ, проводимых БГТУ «ВОЕНМЕХ» им
Hexapod digital control using the inverse dynamics and it implementation on the radiation-resistant ARM-microcontroller
In modern developments of robot control systems, the approach based on the solution of the inverse dynamic model is most popular
Summary
С. Цифровое управление гексаподом на основе обратной модели динамики с реализацией на радиационно стойком ARM-микроконтроллере // Вопросы радиоэлектроники.
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